Universal Robots UR16e PolyScope X User Manual page 61

8. Installation
OSSD All configured and permanent safety inputs are filtered to allow the use of OSSD safety
signals equipment with pulse lengths under 3ms. The safety input is sampled every millisecond and
the state of the input is determined by the most frequently seen input signal over the last 7
milliseconds.
OSSD You can configure the Control Box to output OSSD pulses when a safety output is
Safety inactive/high. OSSD pulses detect the ability of the Control Box to make safety outputs
Signals active/low. When OSSD pulses are enabled for an output, a 1ms low pulse is generated on
the safety output once every 32ms. The safety system detects when an output is connected
to a supply and shuts down the robot.
The illustration below shows: the time between pulses on a channel (32ms), the pulse length
(1ms) and the time from a pulse on one channel to a pulse on the other channel (18ms)
To enable OSSD for Safety Output
1.
2.
3.
Default safety The robot is delivered with a default configuration, which enables operation without any
configuration additional safety equipment.
Connecting Most applications require one or more extra emergency stop buttons. The illustration
emergency below shows how one or more emergency stop buttons can be connected.
stop buttons
User Manual
In the Header, tap Installation and select Safety.
Under Safety, select I/O.
On the I/O screen, under Output Signal, select the desired OSSD checkbox. You must
assign the output signal to enable the OSSD checkboxes.
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
63 UR16e PolyScope X